Fix: Corrected compass calibration result report to match mavlink documentation (MAG_CAL_REPORT (192))

Author: denis

mavros_extras/src/plugins/mag_calibration_status.cpp

@@ -104,14 +104,32 @@ class MagCalStatusPlugin : public plugin::Plugin
     }
     if (calibration_show[mr.compass_id]) {
       auto mcr = mavros_msgs::msg::MagnetometerReporter();
-
       mcr.header.stamp = node->now();
       mcr.header.frame_id = std::to_string(mr.compass_id);
+      
       mcr.report = mr.cal_status;
       mcr.confidence = mr.orientation_confidence;
-
-      mcr_pub->publish(mcr);
-      calibration_show[mr.compass_id] = false;
+      mcr.compass_id = mr.compass_id;
+      mcr.cal_mask = mr.cal_mask;
+      mcr.cal_status = mr.cal_status;
+      mcr.autosaved = mr.autosaved;
+      mcr.fitness = mr.fitness;
+      mcr.ofs_x = mr.ofs_x;
+      mcr.ofs_y = mr.ofs_y;
+      mcr.ofs_z = mr.ofs_z;
+      mcr.diag_x = mr.diag_x;
+      mcr.diag_y = mr.diag_y;
+      mcr.diag_z = mr.diag_z;
+      mcr.offdiag_x = mr.offdiag_x;
+      mcr.offdiag_y = mr.offdiag_y;
+      mcr.offdiag_z = mr.offdiag_z;
+      mcr.orientation_confidence = mr.orientation_confidence;
+      mcr.old_orientation = mr.old_orientation;
+      mcr.new_orientation = mr.new_orientation;
+      mcr.scale_factor = mr.scale_factor;
+	
+	  mcr_pub->publish(mcr);
+	  calibration_show[mr.compass_id] = false;
     }
   }
 };

mavros_msgs/msg/MagnetometerReporter.msg

@@ -1,4 +1,23 @@
 std_msgs/Header header
 
 uint8 report
-float32 confidence
+float32 confidence
+uint8 compass_id
+uint8 cal_mask
+uint8 cal_status
+uint8 autosaved
+float32 fitness
+float32 ofs_x
+float32 ofs_y
+float32 ofs_z
+float32 diag_x
+float32 diag_y
+float32 diag_z
+float32 offdiag_x
+float32 offdiag_y
+float32 offdiag_z
+float32 orientation_confidence
+uint8 old_orientation
+uint8 new_orientation
+float32 scale_factor
+